Control of remote demolition robot

ABSTRACT

A remote demolition robot (10) comprising a controller (17), drive means (14), an arm member (11) movably arranged on a tower (10a) rotatably arranged on a body (11b) of the remote demolition robot (10) and a remote control (22) for providing commands, that are interpreted by the controller (17) causing the controller (17) to control the operation of the remote demolition robot (10), wherein the remote control (22) comprises a first joystick (24a) and a second joystick (24b), wherein the remote control (22) is characterized in that each joystick (24) is provided with a thumb control switch (26).

TECHNICAL FIELD

This application relates to the control of remote demolition robots, andin particular to simultaneous control of driving means and robotmembers.

BACKGROUND

Contemporary remote demolition robots are often put to work in difficultterrain. By the very nature of a demolition robot, the environment willcertainly become more difficult to navigate once the demolition work hasbegun (unless, of course, it is a clearing operation). As such, thedemolition robot may end up in some terrain that is very difficult tomaneuver in, or the demolition robot may even get stuck.

A contemporary demolition robot has a great deal of controlpossibilities, such as controlling tools, arms, tower, caterpillars andoutriggers. All these different controls are assigned to a few controlswitches and for example two joysticks. To enable a user to operate allpossibilities, the possible actions are divided into different modes,where the control switches control different movements depending onwhich mode the demolition robot is operating in. This enables theoperator to control all the demolition robot's functions using only twojoysticks. However, to switch between two modes takes some time and alsoprevents some movements to be performed simultaneously, wherein onemovement is controlled in one mode and another movement is controlled inanother mode causing the demolition robot to operate in a jerky orirregular manner.

There is thus a need for a remote demolition robot that is able tooperate more smoothly.

SUMMARY

On object of the present teachings herein is to solve, mitigate or atleast reduce the drawbacks of the background art, which is achieved bythe appended claims.

A first aspect of the teachings herein provides a remote demolitionrobot comprising a controller, drive means, an arm member movablyarranged on a tower rotatably arranged on a body of the remotedemolition robot and a remote control for providing commands, that areinterpreted by the controller causing the controller to control theoperation of the remote demolition robot, wherein the remote controlcomprises a first joystick and a second joystick, wherein the remotecontrol is characterized in that each joystick is provided with a thumbcontrol switch. The controller is configured to operate the remotedemolition robot in a mode where the tower, the drive means, the armmember(s) and any tool being carried by the arm member are operablesimultaneously, wherein the tower and possibly some movements of the armmember(s) are associated with the first joystick, the drive means areassociated with the thumb control switch of each joystick, and the armmember(s) and any tool being carried by the arm member are associatedwith the second joystick, and preferably at least one joystick isprovided with at least one top control switch, and wherein theoutriggers are associated with the top control switch of the firstjoystick.

A second aspect provides a method for operating a remote controlarranged to control a remote demolition robot comprising a controller,drive means, an arm member movably arranged on a tower rotatablyarranged on a body of the remote demolition robot, wherein the remotecontrol is arranged to provide commands, that are interpreted by thecontroller causing the controller to control the operation of the remotedemolition robot, wherein the remote control comprises a first joystickand a second joystick, wherein each joystick is provided with a thumbcontrol switch, wherein the method comprises: providing propulsioncommands through said thumb control switches; providing tower rotationcommands through said first joystick; and providing arm movementcommands through said second joystick, wherein the propulsion commands,the tower rotation commands and said arm movement commands are providedsimultaneously while operating in a same operating mode.

Other features and advantages of the disclosed embodiments will appearfrom the following detailed disclosure, from the attached dependentclaims as well as from the drawings.

BRIEF DESCRIPTION OF DRAWING

The invention will be described below with reference to the accompanyingfigures wherein:

FIG. 1 shows a remote demolition robot according to an embodiment of theteachings herein;

FIG. 2A shows a remote control 22 for a remote demolition robotaccording to an embodiment of the teachings herein;

FIG. 2B shows an alternative remote control 22 for a remote demolitionrobot according to an embodiment of the teachings herein;

FIG. 3 shows a schematic view of a robot according to an embodiment ofthe teachings herein;

FIG. 4 shows a table of controls being activated and the correspondingcontrol actions being executed by a remote demolition robot according toan embodiment of the teachings herein; and

FIG. 5 shows a flowchart for a general method according to an embodimentof the teachings herein.

DETAILED DESCRIPTION

FIG. 1 shows a remote demolition robot 10, hereafter simply referred toas the robot 10. The robot 10 comprises one or more robot members, suchas arms 11, the arms 11 possibly constituting one (or more) robot armmember(s). One member may be an accessory tool holder 11 a for holdingan accessory 11 b (not shown in FIG. 1, see FIG. 3). The accessory 11 bmay be a tool such as a hydraulic breaker or hammer, a cutter, a saw, adigging bucket to mention a few examples. The accessory may also be apayload to be carried by the robot 10. The arms 11 are movably operablethrough at least one cylinder 12 for each arm 11. The cylinders arepreferably hydraulic and controlled through a hydraulic valve block 13housed in the robot 10.

The robot 10 comprises caterpillar tracks 14 that enable the robot 10 tomove. The robot may alternatively or additionally have wheels forenabling it to move, both wheels and caterpillar tracks being examplesof drive means. The robot further comprises outriggers 15 that may beextended individually (or collectively) to stabilize the robot 10. Atleast one of the outriggers 15 may have a foot 15 a (possibly flexiblyarranged on the corresponding outrigger 15) for providing more stablesupport in various environments. The robot 10 is driven by a drivesystem 16 operably connected to the caterpillar tracks 14 and thehydraulic valve block 13. The drive system may comprise an electricalmotor in case of an electrically powered robot 10 powered by a batteryand/or an electrical cable 19 connected to an electrical grid (notshown), or a cabinet for a fuel tank and an engine in case of acombustion powered robot 10.

The body of the robot 10 may comprise a tower 10 a on which the arms 11are arranged, and a base 10 b on which the caterpillar tracks 14 arearranged. The tower 10 a is arranged to be rotatable with regards to thebase 10 b which enables an operator to turn the arms 11 in a directionother than the direction of the caterpillar tracks 14.

The operation of the robot 10 is controlled by one or more controllers17, comprising at least one processor or other programmable logic andpossibly a memory module for storing instructions that when executed bythe processor controls a function of the demolition robot 10. The one ormore controllers 17 will hereafter be referred to as one and the samecontroller 17 making no differentiation of which processor is executingwhich operation. It should be noted that the execution of a task may bedivided between the controllers wherein the controllers will exchangedata and/or commands to execute the task.

The demolition robot may be a remote controlled demolition robot. Therobot 10 may further comprise a radio module 18. The radio module 18 maybe used for communicating with a remote control (see FIG. 2, reference22) for receiving commands to be executed by the controller 17 The radiomodule 18 may be used for communicating with a remote server (not shown)for providing status information and/or receiving information and/orcommands. The controller may thus be arranged to receive instructionsthrough the radio module 18. The radio module may be configured tooperate according to a low energy radio frequency communication standardsuch as ZigBee®, Bluetooth® or WiFi®. Alternatively or additionally, theradio module 18 may be configured to operate according to a cellularcommunication standard, such as GSM (Global Systeme Mobile) or LTE (LongTerm Evolution).

The robot 10, in case of an electrically powered robot 10) comprises apower cable 19 for receiving power to run the robot 10 or to charge therobots batteries or both. For wired control of the robot 10, the remotecontrol 22 may alternatively be connected through or along with thepower cable 19. The robot may also comprise a Human-Machine Interface(HMI), which may comprise control buttons, such as a stop button 20, andlight indicators, such as a warning light 21.

FIG. 2A shows a remote control 22 for a remote controlled demolitionrobot such as the robot 10 in FIG. 1. The remote control 22 may beassigned an identity code so that a robot 10 may identify the remotecontrol and only accept commands from a correctly identified remotecontrol 22. This enables for more than one robot 10 to be working in thesame general area. The remote control 22 has one or more displays 23 forproviding information to an operator, and one or more controls 24 forreceiving commands from the operator. The controls 24 include one ormore joysticks, a left joystick 24 a and a right joystick 24 b forexample as shown in FIG. 2A, being examples of a first joystick 24 a anda second joystick 24 b. It should be noted that the labeling of a leftand a right joystick is merely a labeling used to differentiate betweenthe two joysticks 24 a, 24 b. A joystick 24 a, 24 b may further bearranged with a top control switch 25. In the example of FIG. 2A, eachjoystick 24 a, 24 b is arranged with two top control switches 25 a, 25b. The joysticks 24 a, 24 b and the top control switches 25 are used toprovide maneuvering commands to the robot 10. The control switches 24may be used to select one out of several operating modes, wherein anoperating mode determines which control input corresponds to whichaction. For example: in a Transport mode, the left joystick 24 a maycontrol the caterpillar tracks 14 and the right joystick 24 b maycontrol the tower 10 a (which can come in handy when turning in narrowpassages); whereas in a Work mode, the left joystick 24 a controls thetower 10 a, the tool 11 b and some movements of the arms 11, and theright joystick 24 b controls other movements of the arms 11; and in aSetup mode, the each joystick 24 a, 24 b controls each a caterpillartrack 14, and also controls the outrigger(s) 15 on a corresponding sideof the robot 10. It should be noted that other associations of functionsto joysticks and controls are also possible.

The remote control 22 may be seen as a part of the robot 10 in that itis the control panel of the robot 10. This is especially apparent whenthe remote control is connected to the robot through a wire. However,the remote control 22 may be sold separately to the robot 10 or as anadditional accessory or spare part.

The remote control 22 is thus configured to provide control information,such as commands, to the robot 10 which information is interpreted bythe controller 17, causing the robot 10 to operate according to theactuations of the remote control 22.

FIG. 3 shows a schematic view of a robot 10 according to FIG. 1. In FIG.3, the caterpillar tracks 14, the outriggers 15, the arms 11 and thehydraulic cylinders 12 are shown. A tool 11 b, in the form of a hammer11 b, is also shown (being shaded to indicate that it is optional).

The inventors have realized that in certain situations, such as in verydifficult terrain, the modes of the prior art does not providesufficient control of the robot in order to react to differentmovements, such as reactional movements (such as starting to slide),when navigating a difficult terrain. For example, the operator may needto use the arms 11 for changing the balance of the robot 10 or maybe forsupporting or maybe even pushing the robot 10, but to switch modes maynot prove to be fast enough for the operator to manage to steer therobot through the terrain avoiding getting stuck, or to get free whenthe robot 10 has gotten stuck. Furthermore, the inventors have realizedthat the movement controls allowed in any of the existing modes does notprovide sufficient control for these difficult terrains. The inventorsalso realized that there is simply not enough controls available on acontemporary remote control 22.

The inventors have therefore devised a clever and insightful arrangementof controls on the remote control for enabling full control of a remotecontrolled demolition robot. To not require full relearning of theprevious modes, and to simplify the understanding of the robot'scontrol, the inventors have also provided a new operational mode.

The remote control 22 has been provided with a thumb control switch 26on each of the joysticks 24. Each thumb control switch is associatedwith and arranged to control each a caterpillar track (or the wheels) ona corresponding side of the robot 10. The thumb control switch 26 a onthe left joystick 24 a controlling the caterpillar tack 14 on the leftside, and the thumb control switch 26 b on the right joystick 24 bcontrolling the caterpillar tack 14 on the right side.

The thumb control switch 26 is arranged on a side of the joystick 24,preferably on the handle of the joystick 24. This enables the operatorto control the thumb switch 26 with his thumb, the top control switch 25with his index finger (or alternatively operating the thumb-switch withone or more fingers and the top switch with the thumb) and the joystick24 with his hand and remaining fingers. The operator is thus providedwith additional control options for controlling the robot 10, wherebythe additional control options may be performed simultaneously.

The thumb control switch 26 is a two-way switch, wherein each directionof the two-way switch corresponds to a direction for the caterpillartracks 14. For example, up corresponds to forwards, and down correspondsto backwards.

The thumb control switch 26 is furthermore an analogue or proportionalcontrol switch, wherein a speed of the caterpillar tracks 14 isassociated with an angle or degree that the thumb control switch isdepressed. An operator can thus control the robot to advance (or turn)at low speeds by pressing lightly on the thumb control switches 26, andto advance (or turn) at high speeds by pressing hard on the thumbcontrol switches 26.

FIG. 4 shows a table of controls being activated and the correspondingcontrol actions being executed by the robot 10. The scheme shows whichactuation results in which action. The actuations are shown as a controlbeing darkened, and for multiple way switches, the arrows indicate inwhich way the control is actuated.

As can be seen in FIG. 4, actuation of the thumb control switches 26,such as an upwards actuation of the left thumb control switch 26 aarranged on the left joystick 24 a results in the left caterpillar track14 being driven forward 401. The speed at which the caterpillar track isdriven is proportionate to the degree or angle that the thumb controlswitch 26 a is depressed. Another example is that an actuation of theright top switch control 25 b on the left joystick 24 a results in theoutriggers being withdrawn 405, and an actuation of the left top switchcontrol 25 a on the left joystick 24 a results in the outriggers beingdeployed 406.

-   -   The figure shows which action is taken for which actuation.    -   The actuation of the controls referenced 401 is associated with        the function of driving the left caterpillar track forward.    -   The actuation of the controls referenced 402 is associated with        the function of driving the left caterpillar track in reverse.    -   The actuation of the controls referenced 403 is associated with        the function of driving the right caterpillar track forward.    -   The actuation of the controls referenced 404 is associated with        the function of driving the right caterpillar track in reverse.    -   The actuation of the controls 405 is associated with the        function of withdrawing the outriggers.    -   The actuation of the controls referenced 406 is associated with        the function of deploying the outriggers. The actuation of the        controls referenced 407 is associated with the function of        rotating the tower counter-clockwise.    -   The actuation of the controls referenced 408 is associated with        the function of rotating the tower in a clockwise direction.    -   The actuation of the controls referenced 409 is associated with        the function of moving the arm 11 a inwards.    -   The actuation of the controls referenced 410 is associated with        the function of moving the arm 11 a outwards.    -   The actuation of the controls referenced 411 is associated with        the function of moving the arm 11 a down.    -   The actuation of the controls referenced 412 is associated with        the function of moving the arm 11 a up.    -   The actuation of the controls referenced 413 is associated with        the function of moving the arm 11 a and the arm 11 b outwards.    -   The actuation of the controls referenced 414 is associated the        function of moving the arm 11 a and the arm 11 b inwards.    -   The actuation of the controls referenced 415 is associated with        the function of moving the a third arm upwards.    -   The actuation of the controls referenced 416 is associated with        the function of moving the third arm downwards.    -   The actuation of the controls referenced 417 and 418 are        associated with the function of respectively adjusting the angle        inwards and outwards.    -   The actuation of the controls referenced 419 is associated with        the function of adjusting the pressure and/or the flow to the        hydraulic tool.    -   The actuation of the controls referenced 420 is associated with        the function of adjusting the pressure and/or the flow to a        maximum provided to the hydraulic tool.    -   The actuation of the controls referenced 421 is associated with        the function of opening or closing the cutters.

As can be seen, this allows an operator to control the robot in a smoothmanner without interruptions as many controls can be actuatedsimultaneously. For example, the operator can control the caterpillartracks 14 with his thumbs, while controlling the tower with his lefthand (left joystick 24 a) and the arm(s) 11 with his right hand (rightjoystick). Optionally, some functions of the arm(s) 11 may also becontrolled by the left joystick in combination with actuation of a topswitch 25 (or other switch). Naturally, the alternative operating modesof a joystick depending on actuation of a switch or not may beinterchanged with one another without departing from the scope of thisinvention. The arm 11 can thus be moved to any position to balance therobot 10 while the caterpillar tracks are controlled accurately andproportionally. This constellation of actions and controls is highlybeneficial in that it allows an operator to maneuver the body of robot10 with his left hand and the arm with the right hand. The arm generallyrequires more dexterity which is the case or most operator's right hand.Naturally, the constellation may be reversed for a left-handed operator.

The arm can also or alternatively be moved to any position and be usedto push or to pull (especially if the tool is a bucket) the robot 10 ina desired direction while the caterpillar tracks are controlledaccurately and proportionally.

At the same time, the operator can deploy (or withdraw) the outriggers15 to stabilize or support the robot 10 in a certain position. Theoutriggers 15 may also be used to provide an additional lift or push tothe robot 10. All this while the operator controls the arm 11, the tower10 a and the caterpillar tracks 14 in a smooth and proportional manner.The operator is thus enabled to simultaneously move caterpillar tracks14, outriggers 15, tower 10 a and arm 11 in one coordinated and smoothmovement, wherein the different components are individually controlledto react to any dynamic behaviour.

The inventors have realized that through an intelligent selection offunctions to be associated with the controls, it is possible to gain abetter control of the robot without the need of constantly changingoperational modes. The precise combination of simultaneously controllingthe tower, the arm carrying the tool, the caterpillar tracks and theoutriggers and the manner in which these functions are allocated to thevarious switches forms a precise and distinct selection which has beeninventively selected. This provides for a greatly improved maneuveringof the demolition robot which may be crucial in certain instances as hasbeen described herein. For example, should the demolition robot startsliding down a hole or ditch, the controller is now able tosimultaneously turn the tower and move the arms to position the tool forsupporting or pushing the demolition robot, while extending theoutriggers to stabilize the demolition robot and at the same timeprovide propulsion through the caterpillars. In this manner thecontroller will be able to prevent the demolition robot from slidingdown into a ditch. In prior art system the user would have to stressthrough performing one action at the time and to change modes inbetween, while also having to remember which mode to select to and inwhat order to effectively perform the maneuver.

It should be noted that in some modes, the top switches may be used tooperate or control a tool 11 b instead of the outriggers. Alternatively,the top switches may be used to control both the outriggers and a toolthrough a different functional allocation of the top switch actuations.

The speed of reaction and smoothness of operation is vital in afail/succeed situation, such as freeing he robot when it is stuck(fail=remain stuck, succeed=get free) and poses higher requirements onreaction time and smoothness, than normal operation, such as whencutting in a specific pattern, where the operation may be paused, whilethe robot is moved to a different position or pose.

The realization that a thumb control 26 can beneficially be used and theintroduction of this in a position (on the side of the joystick) so thatthe operator can reach the thumb control switches simultaneously withthe top control switches 25 while manipulating the joystick 24 have thusprovided a solution to the above stated problems.

Furthermore, the inventors have realized that the simultaneous controlof the thumb control switches 26 and the joysticks 24 are keys to asmooth and versatile operation, even without top switches.

FIG. 2B shows an alternative remote control 22 for a remote controlleddemolition robot such as the robot 10 in FIG. 1. As in FIG. 2A, theremote control 22 may be assigned an identity code so that a robot 10may identify the remote control and only accept commands from acorrectly identified remote control 22.

As in FIG. 2A the remote control 22 has one or more displays 23, and oneor more controls 24 for receiving commands from the operator. Thecontrols 24 include one or more joysticks, a left joystick 24 a and aright joystick 24 b for example as shown in FIG. 2B, being examples of afirst joystick 24 a and a second joystick 24 b. The joysticks 24 a, 24 bare used to provide maneuvering commands to the robot 10.

As in FIG. 2A, the control switches 24 may be used to select one out ofseveral operating modes, wherein an operating mode determines whichcontrol input corresponds to which action.

As for the remote control 22 of FIG. 2A, the remote control 22 may beseen as a part of the robot 10 in that it is the control panel of therobot 10.

The remote control 22 of FIG. 2B has also been provided with a thumbcontrol switch 26 on each of the joysticks 24. Each thumb control switch26 is associated with and arranged to control each a caterpillar track(or the wheels) on a corresponding side of the robot 10. The thumbcontrol switch 26 a on the left joystick 24 a controlling thecaterpillar tack 14 on the left side, and the thumb control switch 26 bon the right joystick 24 b controlling the caterpillar tack 14 on theright side.

The thumb control switch 26 is arranged on a side of the joystick 24,preferably on the handle of the joystick 24. This enables the operatorto control the thumb switch 26 with his thumb and the joystick 24 withhis hand and remaining fingers. The operator is thus provided withadditional control options for controlling the propulsion of the robot10, the rotation of the tower 10 a and the movement of the arm(s) 11,whereby the additional control options may be performed simultaneously.

As for the remote control 22 of FIG. 2A, the thumb control switch 26 maybe a two-way switch, wherein each direction of the two-way switchcorresponds to a direction for the caterpillar tracks 14.

As for the remote control 22 of FIG. 2A, the thumb control switch 26 mayfurthermore be an analogue or proportional control switch, wherein aspeed of the caterpillar tracks 14 is associated with an angle or degreethat the thumb control switch is depressed.

Utilizing a remote control 22 according to FIG. 2B thus enables anoperator to control the robot 10 smoothly and to react to and deal withevents and obstacles occurring in a difficult terrain.

FIG. 5 shows a flowchart for a general method according to herein. Therobot 10 is controlled by the operator providing 510 propulsion commandsthrough the thumb control switches 26 a, 26 b. The propulsion commandsare commands that control the drive means 14 of the robot. The robot 10is also provided 520 with tower rotation commands through the first(left) joystick 24 a which instruct the robot 10 in how to turn orrotate the tower 10 a. And, the operator also provides 530 arm movementcommands through the second (right) joystick 24 b, which commandscontrol the movement of the arms 11 and possibly also a tool 11 battached to or carried by the arms 11. It should be noted that thepropulsion commands, the tower rotation commands and the arm movementcommands are provided simultaneously while operating in a same operatingmode, as is indicated by the dashed box in FIG. 5. In one embodiment theoperator may also provide 540 outrigger commands for controlling theoutriggers 15 of the robot 10. The outrigger commands are also providedsimultaneously with the other commands.

The invention has mainly been described above with reference to a fewembodiments. However, as is readily appreciated by a person skilled inthe art, other embodiments than the ones disclosed above are equallypossible within the scope of the invention, as defined by the appendedpatent claims.

1. A remote demolition robot comprising a controller, drive means, anarm member movably arranged on a tower rotatably arranged on a body ofthe remote demolition robot and a remote control for providing commands,that are interpreted by the controller causing the controller to controlthe operation of the remote demolition robot, wherein the remote controlcomprises a first joystick and a second joystick, wherein the remotecontrol is characterized in that each joystick is provided with a thumbcontrol switch, wherein the controller is configured to operate theremote demolition robot in a mode where the tower, the drive means, thearm member and any tool being carried by the arm member are operablesimultaneously, wherein the tower and at least some movements of the armmember are associated with the first joystick, the drive means areassociated with the thumb control switch of each joystick, and the armmember and any tool being carried by the arm member are associated withthe second joystick.
 2. The remote demolition robot according to claim1, wherein the thumb control switch is arranged to provide controlinformation for controlling an associated drive means.
 3. The remotedemolition robot according to claim 2, wherein the thumb controlswitches of each joystick is a proportional switch arranged to provideinformation on how far the thumb control switch is pressed, whereby thecontroller is further configured to regulate the speed of the associateddrive means in response thereto.
 4. The remote demolition robotaccording to claim 2, wherein the thumb control switches of eachjoystick is a two-way switch arranged to provide information on whichthe thumb control switch is pressed, whereby the controller is furtherconfigured to regulate the direction of the associated drive means inresponse thereto.
 5. The remote demolition robot according to claim 1,wherein the drive means comprises caterpillar tracks.
 6. A remotecontrol arranged to control a remote demolition robot comprising acontroller, drive means, an arm member movably arranged on a towerrotatably arranged on a body of the remote demolition robot, wherein theremote control is arranged to provide commands that are interpreted bythe controller causing the controller to control operation of the remotedemolition robot, wherein the remote control comprises a first joystickand a second joystick, wherein the remote control is characterized inthat each joystick is provided with a thumb control switch, wherein thecontroller is configured to operate the remote demolition robot in amode where the tower, the drive means, the arm member and any tool beingcarried by the arm member are operable simultaneously, wherein the towerand at least some movements of the arm member are associated with thefirst joystick, the drive means are associated with the thumb controlswitch of each joystick, and the arm member and any tool being carriedby the arm member are associated with the second joystick.
 7. A methodfor operating a remote control arranged to control a remote demolitionrobot comprising a controller, drive means, an arm member movablyarranged on a tower rotatably arranged on a body of the remotedemolition robot, wherein the remote control is arranged to providecommands, that are interpreted by the controller causing the controllerto control the operation of the remote demolition robot, wherein theremote control comprises a first joystick and a second joystick, whereineach joystick is provided with a thumb control switch, wherein themethod comprises: providing propulsion commands through said thumbcontrol switch of each joystick; providing tower rotation commandsthrough said first joystick; and providing arm movement commands throughsaid second joystick, wherein the propulsion commands, the towerrotation commands and said arm movement commands are providedsimultaneously while operating in a same operating mode.
 8. The methodaccording to claim 7, wherein at least one joystick is provided with atleast one top control switch and wherein the method further comprisesproviding outrigger commands through said top control switch of saidfirst joystick while operating in the same operating mode.